tcon_a_1421775_sm4493.mp4 (6.58 MB)
Sliding mode differentiator/observer for quadcopter velocity estimation through sensor fusion
Version 2 2018-01-08, 14:11
Version 1 2017-12-26, 13:51
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posted on 2018-01-08, 14:11 authored by Igor Boiko, Mohammad ChehadehA method of fusion of the position sensor from the motion capture optical system and accelerometer to produce velocity signal of the quadcopter is proposed. Fusion is done through second-order and asymptotic second-order sliding mode control. A differentiator/observer for the vertical speed channel is presented. The results are illustrated by simulations and experiments.